Delay compensation in bilateral control using a sliding mode observer


Leblebici T., Calli B., Unel M., Sabanovic A., BOGOSYAN S., Gokasan M.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, vol.19, no.6, pp.851-859, 2011 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 19 Issue: 6
  • Publication Date: 2011
  • Doi Number: 10.3906/elk-1007-625
  • Title of Journal : TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Page Numbers: pp.851-859

Abstract

In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.